This article presents the theoretical development and practical implementation of the algorithm to ensure stability in the case of yaw speed maneuvers. Yaw stability control systems provide a control action, which prevents the vehicle from under- or oversteering in a handling maneuver (e.g. lane change, slalom, etc.).
Many new vehicle features (like Electronic Stability Programs (ESP), indirect Tire Pressure Monitoring Systems (TPMS), road-tire friction monitoring systems, and so forth) rely on models of the underlying vehicle dynamics. The so-called bicycle vehicle model is a rather simple model structure that used frequently in the vehicle dynamics literature. The algorithm was developed based on this dynamic model.
To prove the algorithm stability, was built the simulator using Unreal Engine and the hardware prototype was developed. Results of simulation and real-world performance were measured and compared, so they validate the approach with low error.